CN113494891A - Multi-view splicing method for measuring integral profile of train bearing saddle - Google Patents
Multi-view splicing method for measuring integral profile of train bearing saddle Download PDFInfo
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- CN113494891A CN113494891A CN202110726982.2A CN202110726982A CN113494891A CN 113494891 A CN113494891 A CN 113494891A CN 202110726982 A CN202110726982 A CN 202110726982A CN 113494891 A CN113494891 A CN 113494891A
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000000007 visual effect Effects 0.000 claims abstract description 18
- 238000006243 chemical reaction Methods 0.000 claims abstract description 10
- 238000005259 measurement Methods 0.000 claims description 30
- 230000010363 phase shift Effects 0.000 claims description 9
- 238000000691 measurement method Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 239000003550 marker Substances 0.000 description 9
- 238000005299 abrasion Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000003708 edge detection Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000000649 phase profilometry Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/2433—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring outlines by shadow casting
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/60—Rotation of whole images or parts thereof
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Abstract
The invention provides a multi-view splicing method for measuring the integral profile of a train carrying saddle, which is characterized in that in the multi-view measuring process, through identifying and positioning mark points on a designed target plate, the conversion relation between coordinate systems of measuring data at different views is calculated, so that the splicing of the measuring data at a plurality of views is realized, and the complete profile three-dimensional point cloud data of the train carrying saddle is obtained. The method is simple, convenient and quick, and can well solve the problem that the bearing saddle profile data measured at each visual angle in the prior art is difficult to splice to form complete profile data.
Description
Technical Field
The invention relates to the technical field of optical three-dimensional measurement, in particular to a multi-view splicing method for measuring the integral profile of a train carrying saddle.
Background
The train bearing saddle is a part with large abrasion consumption in train parts, and in order to realize the measurement and detection of the abrasion of the profile of the train bearing saddle, the complete measurement of the profile of the train bearing saddle is required. The commonly used measurement technique is optical three-dimensional measurement, one of the most widely used techniques being phase profilometry, which has the advantages of high speed, low cost, non-contact and high precision. However, only the profile data of the bearing saddle part can be obtained from a single visual angle in the measuring process, and when the relative position relationship between the measuring system and the measured object changes, the coordinate system of the profile data of the measured object is not uniform, and the measured data from a plurality of visual angles cannot be spliced together. Therefore, the bearing saddle needs to be measured in multiple viewing angles, and then the measurement data of multiple viewing angles need to be unified by an effective multi-viewing angle splicing method, so that the complete measurement data of the bearing saddle profile can be obtained.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a multi-view splicing method for measuring the integral profile of a train carrying saddle, which solves the problem of multi-view splicing required by the measurement of the integral profile data of the carrying saddle.
The technical scheme is as follows: in order to achieve the purpose, the technical scheme of the invention is as follows:
a multi-view splicing method for measuring the integral profile of a train carrying saddle comprises the following steps:
(1) calibrating a target plate with a plurality of marking circles distributed on the front surface and the back surface equally to obtain three-dimensional coordinates of the centers of the marking circles on the front surface and the back surface of the target plate in the same coordinate system, and taking the coordinate system as a calibration coordinate system;
(2) arranging the target board near the bearing saddle in a mode of fixing the relative positions of the target board and the bearing saddle, projecting the surface of the bearing saddle at front and rear visual angles and collecting images;
(3) identifying the mark circles on the front and back sides of the target plate in the collected images under the two visual angles, and calculating the center coordinates of each mark circle in the images;
(4) calculating three-dimensional coordinates corresponding to the centers of the marking circles on the front side and the back side of the target plate in the image under two visual angles based on a surface structured light three-dimensional measurement method;
(5) respectively calculating conversion relations between corresponding measurement coordinate systems and calibration coordinate systems at two visual angles according to the three-dimensional coordinates of the centers of the front and rear marking circles of the target plate under the calibration coordinate system obtained in the step (1) and the three-dimensional coordinates of the centers of the front and rear marking circles of the target plate under the two visual angles obtained in the step (4) and the principle of corresponding point matching;
(6) and (3) carrying out phase solution and point cloud calculation according to the images at the two viewing angles in the step (2), and converting point cloud data obtained by measurement at the two viewing angles into a unified calibration coordinate system according to the conversion relation between the two measurement viewing angle coordinate systems obtained in the step (5) and the calibration coordinate system, so as to realize splicing of the measurement data.
In a preferred embodiment, the target plate is formed by bonding the back surfaces of two plane mark plates, 5 mark circles are distributed on the front surface of each mark plate, and the position relationship of the mark circles is randomly distributed.
In a preferred embodiment, the diameter of the marking circle on the right and back surfaces of the target plate is 10mm, and the marking circles do not overlap with each other.
In a preferred embodiment, the circular marker areas on the front and back surfaces of the target plate are white, and the flat plate areas except the circular marker areas are black.
As a preferred embodiment, the calibration method in step (1) adopts a calibration means based on photogrammetry to realize measurement and obtain the coordinates of the landmark dots on the front and back surfaces of the target plate in the same coordinate system.
As a preferred embodiment, the step (2) of projecting the saddle surface and acquiring the image at two front and rear viewing angles includes: projecting a group of phase shift stripe images and a uniform gray scale image to the surface of the bearing saddle and the surface of the target plate by a surface structure light measuring system, collecting corresponding object surface images, transferring the surface structure light measuring system to the back of the bearing saddle to be measured, and collecting the images according to the process
Has the advantages that: the invention provides a calibration method based on photogrammetry for calibrating the spatial position of a mark point on a target board by utilizing the target board which is convenient for multi-view splicing. In the multi-view measurement process, the conversion relation between coordinate systems of measurement data at different views is calculated by identifying and positioning the mark points on the designed target plate, so that the measurement data at multiple views are spliced, and the complete profile three-dimensional point cloud data of the train carrying saddle is obtained. The method is simple, convenient and quick, and can well solve the problem that the bearing saddle profile data measured at each visual angle in the prior art is difficult to splice to form complete profile data.
Drawings
FIG. 1 is a flow chart of a multi-view stitching method according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of a target plate surface marker circle design according to an embodiment of the present invention;
FIG. 3 is a schematic front view of a bearing adapter according to an embodiment of the present invention;
FIG. 4 is a schematic reverse side view of a bearing saddle according to an embodiment of the present invention;
FIG. 5 is a diagram of coordinate system transformation according to an embodiment of the present invention.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
Referring to fig. 1, a multi-view splicing method for measuring the integral profile of a train carrying saddle comprises the following steps:
step (1): and calibrating the target plate to obtain three-dimensional coordinates of the centers of the marking circles on the front and back surfaces of the target plate in the same coordinate system, and calling the coordinate system as a calibration coordinate system.
The target plate in this embodiment is formed by attaching the back surfaces of two planar sign plates, 5 sign circles are distributed on the front surface of each sign plate, and the position relations of the sign circles are randomly distributed. Namely, 5 mark circles with random relative positions are uniformly distributed on the front surface and the back surface of the target board. The front and back sides of the target plate are also referred to as the front and back sides of the target plate, and both have the same meaning. As shown in FIG. 2, the target plate surface is preferably designed to have a marking circle diameter of 10mm without overlapping each other. The 10mm dimension is empirically derived from multiple tests with respect to the size of the bearing adapter and the size of the camera field of view, i.e. the size of the marker circle matches the size of the train bearing adapter and the size of the camera field of view. The mark circle areas on the front and back surfaces of the target board are white, and the flat areas except the mark circle areas are black. The color is set because a phase shift projection method is adopted to project a fringe image with sine variation of gray value to the measured surface, and the three-dimensional coordinate of the surface of the object is calculated by shooting the gray value information of the projected fringes through a camera; the three-dimensional coordinates of the center of the circle of the logo circle are calculated, so that the color of the logo circle is white, and the rest of the area is black. If the marker circle area is black, the gray scale change information of the projected stripe is not obvious after the projected stripe image is projected on the black marker circle, and the measurement error of the circle center is increased.
The calibration of the target plate can utilize a calibration means based on photogrammetry. In this embodiment, the three-dimensional coordinates of the centers of the marking circles on the front and back surfaces of the target board in the same coordinate system are obtained by using a photogrammetric equipment of the model MAXSHOT of the creatorm company, so as to obtain the coordinates of the centers of the marking circles on the front and back surfaces of the target board in the same coordinate system.
Step (2): the target plate and the bearing saddle are arranged close to the bearing saddle in a relative position fixing mode, the target plate is located in a camera image view field, and a group of phase shift stripe images and a uniform gray level image are projected to the surface of the bearing saddle and the surface of the target plate by the surface structured light measuring system and corresponding object surface images are collected. And then the surface structure light measuring system is transferred to the back surface of the measured bearing saddle, and a corresponding group of images are collected according to the process. I.e. projection scans, also referred to herein as images at two viewing angles, front and back, respectively, on the front and back of the bearing adapter. The bearing adapter is shown in front and in schematic view in fig. 3 and 4, respectively.
Because the method is based on phase-shift fringe projection to measure the three-dimensional topography of the object surface. Specifically, a four-step phase shift algorithm and a three-frequency heterodyne algorithm are adopted, and a group of projected fringe patterns are steps required by a phase shift fringe projection method. The uniform gray scale image is used for increasing the brightness of the surface of an object and improving the definition of the marker circle contour in the image acquired by the camera, so that the detection precision of the marker circle contour is improved. The four-step phase shift algorithm and the three-frequency heterodyne algorithm are mature algorithms in the prior art, and the invention is not described in detail.
And (3): and identifying the mark circles on the front surface and the back surface of the target plate in the collected images under the two visual angles by adopting an edge detection method and an ellipse fitting method in an OpenCV (open source computer vision library), and calculating the center coordinates of each mark circle in the images.
And (4): and (4) calculating three-dimensional coordinates corresponding to the centers of the marker circles in the images under the two visual angles identified in the step (3) based on a general surface structured light three-dimensional measurement method.
And (5): and (3) according to the three-dimensional coordinates of the centers of the front and rear marking circles of the target plate, which are obtained by calibration in the step (1), in the unified calibration coordinate system, and the three-dimensional coordinates of the centers of the front and rear marking circles of the target plate, which are obtained in the step (4), in the two viewing angles, according to the principle of matching corresponding points, respectively calculating the conversion relation between the measurement coordinate systems corresponding to the two viewing angles and the calibration coordinate system by adopting a least square algorithm, namely corresponding rotation and translation matrixes. The corresponding point matching principle means that the centers of circles of each circle should correspond to each other in two coordinate systems. Fig. 5 shows a coordinate system conversion relationship, and 2 view coordinate systems in fig. 5 correspond to the two measurement positions of the front and back sides described in step (2).
And (6): and (3) carrying out phase solution and point cloud calculation according to the images at the two viewing angles in the step (2), converting point cloud data obtained by measurement at the two viewing angles into a unified calibration coordinate system according to the rotation and translation conversion matrix from the two measurement viewing angle coordinate systems to the calibration coordinate system obtained in the step (E), and realizing splicing of the measurement data.
The multi-view splicing method for measuring the integral profile of the train carrying saddle is described above, corresponding technical means are involved in each step, and the technical means which are not detailed in the invention are the prior art.
For the measurement requirement of the integral profile of the part of the train bearing saddle, all parts of the profile of the bearing saddle need to be measured from multiple visual angles, and the data of the profile of the bearing saddle at different visual angles are acquired. However, the coordinate systems of the point cloud data of the molded surfaces obtained under different viewing angles by adopting the molded surface measuring method based on phase shift fringe projection are not uniform, and the data of the bearing saddle molded surfaces obtained under various viewing angles are difficult to splice to form complete molded surface data. Therefore, the invention designs a target board for multi-view splicing, and provides a calibration method based on photogrammetry for calibrating the space position of the mark points on the target board. In the multi-view measurement process, the conversion relation between coordinate systems of measurement data at different views is calculated by identifying and positioning the mark points on the designed target plate, so that the measurement data at multiple views are spliced, and the complete profile three-dimensional point cloud data of the train carrying saddle is obtained.
Claims (6)
1. A multi-view splicing method for measuring the overall profile of a train carrying saddle, which is characterized by comprising the following steps:
(1) calibrating a target plate with a plurality of marking circles distributed on the front surface and the back surface equally to obtain three-dimensional coordinates of the centers of the marking circles on the front surface and the back surface of the target plate in the same coordinate system, and taking the coordinate system as a calibration coordinate system;
(2) arranging the target board near the bearing saddle in a mode of fixing the relative positions of the target board and the bearing saddle, projecting the surface of the bearing saddle at front and rear visual angles and collecting images;
(3) identifying the mark circles on the front and back sides of the target plate in the collected images under the two visual angles, and calculating the center coordinates of each mark circle in the images;
(4) calculating three-dimensional coordinates corresponding to the centers of the marking circles on the front side and the back side of the target plate in the image under two visual angles based on a surface structured light three-dimensional measurement method;
(5) respectively calculating conversion relations between corresponding measurement coordinate systems and calibration coordinate systems at two visual angles according to the three-dimensional coordinates of the centers of the front and rear marking circles of the target plate under the calibration coordinate system obtained in the step (1) and the three-dimensional coordinates of the centers of the front and rear marking circles of the target plate under the two visual angles obtained in the step (4) and the principle of corresponding point matching;
(6) and (3) carrying out phase solution and point cloud calculation according to the images at the two viewing angles in the step (2), and converting point cloud data obtained by measurement at the two viewing angles into a unified calibration coordinate system according to the conversion relation between the two measurement viewing angle coordinate systems obtained in the step (5) and the calibration coordinate system, so as to realize splicing of the measurement data.
2. The multi-view splicing method for measuring the overall profile of the train carrying saddle according to claim 1, wherein the target plate is formed by bonding the back surfaces of two plane mark plates, 5 mark circles are distributed on the front surface of each mark plate, and the position relationship of the mark circles is randomly distributed.
3. The multi-view splicing method for measuring the overall profile of the train carrying saddle according to claim 2, wherein the marking circles on the front and back surfaces of the target plate have a diameter of 10mm and do not overlap with each other.
4. The multi-view splicing method for measuring the overall profile of the train carrying saddle according to claim 2, wherein the marking circle areas on the front and back sides of the target plate are white, and the flat plate areas except the marking circle areas are black.
5. The multi-view splicing method for measuring the overall profile of the train carrying saddle according to claim 1, wherein the calibration method in step (1) adopts a calibration means based on photogrammetry to realize measurement and obtain the coordinates of the mark dots on the front and back surfaces of the target plate under the same coordinate system.
6. The multi-view splicing method for measuring the overall profile of the train carrying saddle according to claim 1, wherein the step (2) of projecting and acquiring the image of the carrying saddle surface at the front view angle and the rear view angle comprises: a group of phase shift stripe images and a uniform gray scale image are projected to the surface of the bearing saddle and the surface of the target plate by the surface structured light measuring system, corresponding object surface images are collected, and then the surface structured light measuring system is transferred to the back of the bearing saddle to be measured to collect images according to the process.
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